Introduction

Introduction:

This project aims to create a miniature self-driving vehicle for the purposes of future research in the field. The goal is to make a vehicle that allows researchers to experience the same complications present in a self-driving car on a much smaller scale and with smaller risk of injury or death. The following are the specific objectives of this project:

  • Autonomous: Perform a task from start to finish without human interference.
  • Wireless: Operate without any physical connections to elements not on the vehicle, such as power sockets or non-wireless internet connections.
  • Scalable: Have capabilities for research beyond the span of the Fall 2016 semester.
  • Repeatable: Include a procedure for the creation of additional vehicles for future research.

In order to achieve these objectives, several specifications were established prior to design:

  • Size: At most 10 cm by 18 cm in size.
  • Mass: Less than 2kg in mass.
  • Speed: Top speed of at least 5 meters per second.
  • Steering: Turning radius of at most 0.5 meters
  • Data Acquisition: Include two encoders, an Inertial Measurement Unit (IMU), and a camera.
  • Control: All decisions made by an on-board Raspberry Pi computer.
  • Communication: Capable of communicating with array of infrared cameras in the Perception-Enabled Dynamical Systems Lab (Professor Humberto Gonzalez, Green 1157).